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Haptic Systems 530-655

Haptic Systems 530-655. Mohsen Mahvash Lecture 13 26/1/06. Methods to stabilize haptic interactions with virtual environments. An overview of the last lecture Virtual coupling Passivity controller Multi-rate multi-model implementation References. An overview of the last lecture.

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Haptic Systems 530-655

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  1. Haptic Systems530-655 Mohsen Mahvash Lecture 13 26/1/06

  2. Methods to stabilize haptic interactions with virtual environments • An overview of the last lecture • Virtual coupling • Passivity controller • Multi-rate multi-model implementation • References

  3. An overview of the last lecture Device Virtual Wall

  4. Virtual couple Example Virtual Wall Virtual Couple Virtual Wall

  5. Calculating energy leak Virtual Wall Is my program able to calculate energy leak? absorbed energy by a virtual wall

  6. Passivity controller Virtual Wall NO Virtual Wall+ Passivity Controller

  7. Very high rate implementation Multi-rate multi-model rendering No energy leak at the moment of model switch low rate switch high rate rendering

  8. Passive switching NO Yes Virtual Wall

  9. References • .J. E. Colgate and G. G. Schenkel, “Passivity of a class of sampled-datasystems: Application to haptic interfaces,” J. Robot. Syst., vol. 14, no. 1,pp. 37–47, 1997. • B. Hannaford and J.-H. Ryu, “Stable haptic interaction with virtual environments,” in IEEE Trans. Robot. Autom., vol. 18, Feb. 2002, pp. 1–10. • M. Mahvash and V. Hayward, “High-fidelity passive force-reflecting virtual environments,” IEEE Trans. Robot., vol. 21, no. 1, pp. 38–46, Feb.2005. • Mahvash, M., Hayward, V. 2003a. Passivity-Based High-Fidelity Haptic Rendering of Contact. Proc. IEEE Int. Conf. on Robotics and Automation. pp. 3722-3728 Tomorrow Stability and transparency of  force-feedback  telemanipulation systems

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